Merge branch 'master' into devel

.gitignore

.gitmodules

.pre-commit-config.yaml

.travis

.travis.yml

CMakeLists.txt

COPYING

ChangeLog

cmake

doc/Doxyfile.extra.in

include/sot/pattern-generator/next-step.h

include/sot/pattern-generator/pg.h

include/sot/pattern-generator/selector.h

include/sot/pattern-generator/step-computer-force.h

include/sot/pattern-generator/step-computer-joystick.h

include/sot/pattern-generator/step-computer-pos.h

include/sot/pattern-generator/step-computer.h

include/sot/pattern-generator/step-observer.h

include/sot/pattern-generator/which-foot-upper.h

package.xml